The project aimed to precisely sense the position of a moving object on a cantilever. Different positions of the object cause slightly different deformation of the cantilever, and it is measured by strain gauges and a bridge circuit. While caliberating the sensors, we wrote the motor.ino code to control a step motor which drives the object to different locations on the cantilever through a ball screw structure.
Electronic parts: MCU - Arduino Uno; Motor driver - L298N
Time: 2018.10
In the project, we programmed on a tracked robot platform with a 4 DOF manipulator arm manufactured by XiaoR Geek Technology to do indoor object transport tasks. The robotic vehicle can track lines on the floor, detect the distance from the object, grab the object safely and accurately with the manipulator, and transport it while avoiding the obstacles along the given path.
The vehicle.ino code is the main program that controls the vehicle to do the above tasks. The communication.ino code achieves the serial communication between the MCU and the WIFI board, so we can send start/stop signal to the robot through wireless communication from a remote PC. A video showing the robot's functions can be viewed here.
Electronic parts: MCU - Arduino MEGA2560; WIFI board - Robot-Link V4.0 AR WIFI module
Time: 2018.12
